Stability of control system in handling of a flexible object by rigid arm robots

In this paper, we deal with the handling of a flexible object by rigid arm robots. We consider three main tasks: 1) to propose a mathematical model for a variety of flexible objects of our daily life; 2) to design a controller to achieve cooperative handling of the flexible object by the robots; and 3) to analyze the stability and robustness of the control system. In particular, demands for manipulating a large-scale structure by a space robot will be increasing. Therefore, it is important to constitute the cooperative control problem of several robots handling a flexible object, and to analyze the proposed control system.

[1]  Yuan F. Zheng,et al.  Trajectory planning for two manipulators to deform flexible beams , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[2]  Masaru Uchiyama,et al.  A symmetric hybrid position/force control scheme for the coordination of two robots , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[3]  Masaru Uchiyama,et al.  Cartesian-level control strategy for a system of manipulators coupled through a flexible object , 1994, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94).

[4]  Hikaru Inooka,et al.  Cooperative control of a vibrating flexible object by a rigid dual-arm robot , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[5]  Yuan F. Zheng,et al.  Efficient trajectory planning for two manipulators to deform flexible materials with experiments , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[6]  Hirofumi Nakagaki,et al.  Study of insertion task of a flexible beam into a hole , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[7]  Kazuhiro Kosuge,et al.  Manipulation of a flexible object by dual manipulators , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[8]  Hikaru Inooka,et al.  Handling of a constrained flexible object by a robot , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[9]  Michael Athans,et al.  Gain and phase margin for multiloop LQG regulators , 1976, 1976 IEEE Conference on Decision and Control including the 15th Symposium on Adaptive Processes.

[10]  Yuan F. Zheng,et al.  Trajectory planning for two manipulators to deform flexible materials using compliant motion , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[11]  J. C. Simo,et al.  On the Dynamics of Flexible Beams Under Large Overall Motions—The Plane Case: Part II , 1986 .

[12]  Mikhail M. Svinin,et al.  Analysis of constrained elastic manipulations , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.